Robot for working in limited space, safety risk assessment method, equipment and medium

Abstract

The invention relates to the technical field of limited space operation and robots, and provides a robot for limited space operation, a safety risk assessment method, equipment and a medium, and the robot comprises an intelligent monitoring device which is used for obtaining environmental parameters in a target limited space; and the intelligent early warning device calculates a safety risk prediction value in the target limited space based on the environmental parameters by using a pre-trained risk assessment model, and sends an early warning signal to an operator and / or a manager when the safety risk prediction value is greater than a preset first safety risk threshold value. According to the embodiment, the robot enters the limited space to execute the monitoring task, the working efficiency can be improved, meanwhile, the robot feeds back the safety risk assessment in the limited space to an operator and / or a manager in time, and the safety guarantee of the operator during operation in the limited space is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of limited space operation and robots, and in particular to a robot for limited space operation and a safety risk assessment method, device and medium. BACKGROUND

[0002] With the continuous improvement of industrial automation and intelligence, the safety problem of limited space operation is increasingly valued. Limited spaces, such as storage tanks, pipelines, and underground wells, often pose great safety risks to workers due to their special environmental conditions. Traditional monitoring methods rely on manual entry into limited spaces for monitoring tasks, which not only is inefficient but also has great safety hazards.

[0003] Therefore, there is an urgent need for a monitoring scheme that can replace manual entry into limited spaces to perform monitoring tasks. SUMMARY

[0004] The present application provides a robot for limited space operation and a safety risk assessment method, device and medium to solve the problem that existing methods rely on manual entry into limited spaces for data collection, which is not only inefficient but also has great safety hazards.

[0005] The first aspect of the present application provides a robot for limited space operation, the robot of the present application comprising:

[0006] an intelligent monitoring device for obtaining environmental parameters in a target limited space;

[0007] an intelligent early warning device using a pre-trained risk assessment model to calculate a safety risk prediction value in the target limited space based on the environmental parameters, and sending an early warning signal to the worker and / or manager when the safety risk prediction value is greater than a preset first safety risk threshold.

[0008] In some embodiments of the present application, the environmental parameters include visual information of a target scene in the limited space, air quality, temperature, humidity, spatial position, information of a target object, physiological parameters, and the intelligent monitoring device comprises:

[0009] a camera device for photographing a target scene in the target limited space to provide visual information of the target scene;

[0010] an air quality sensor for monitoring air quality in the target limited space;

[0011] a temperature sensor for monitoring the temperature in the target limited space;

[0012] a humidity sensor for monitoring the humidity in the target limited space;

[0013] an infrared sensor configured to locate a space in the target confined space to obtain a spatial position in the target confined space;

[0014] an ultrasonic sensor configured to monitor a target object in the target confined space to obtain information of the target object in the target confined space;

[0015] a radar sensor configured to monitor a physiological parameter of a worker in the confined space.

[0016] In some embodiments of the present application, the pre-trained risk assessment model is obtained in the following manner:

[0017] obtaining historical environmental parameters in the target confined space and constructing a dataset based on the historical environmental parameters;

[0018] constructing an initial risk assessment model, and taking the historical environmental parameters as input and a predicted value of safety risk in the target confined space as output;

[0019] iteratively training the initial risk assessment model with the dataset until convergence to obtain the risk assessment model.

[0020] In some embodiments of the present application, the intelligent early warning device is configured to send a warning signal to the worker and / or the manager through sound, and / or light, and / or short message when the predicted value of safety risk is greater than a preset first safety risk threshold.

[0021] In some embodiments of the present application, the robot of the present application further comprises a programmable logic controller configured to adjust a walking route of the robot in the confined space according to the predicted value of safety risk.

[0022] In some embodiments of the present application, the programmable logic controller is configured to be called by the administrator to remotely control the robot.

[0023] In some embodiments of the present application, a ventilation device is deployed in the confined space, and the intelligent early warning device is further configured to start the ventilation device when the predicted value of safety risk is greater than a preset second safety risk threshold.

[0024] A second aspect of the present application provides a safety risk assessment method for a confined space, the method comprising:

[0025] using the robot for confined space operation of any of the above embodiments to assess safety risk in the confined space;

[0026] remotely controlling the robot based on the assessment result to adjust a monitoring task of the robot in the confined space, wherein the monitoring task comprises adjusting a walking route of the robot in the confined space, and / or controlling the robot to perform a corresponding emergency task.

[0027] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method of the second aspect in the above-mentioned embodiments.

[0028] The present application has the following beneficial effects:

[0029] The above-mentioned embodiments of the present application provide an intelligent robot capable of replacing manual entry into a limited space to perform a monitoring task, which comprises: an intelligent monitoring device for acquiring environmental parameters in a target limited space; and an intelligent early warning device for calculating a safety risk prediction value in the target limited space based on the environmental parameters by using a pre-trained risk assessment model, and sending an early warning signal to an operator and / or a manager when the safety risk prediction value is greater than a preset first safety risk threshold. The above-mentioned embodiments of the present application use a robot to enter a limited space to perform a monitoring task, which can improve work efficiency. At the same time, the robot timely feeds back the safety risk assessment in the limited space to the operator and / or the manager, thereby improving the safety guarantee of the operator when working in the limited space. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the technical solutions of the present application.

[0031] Figure 1 is a framework schematic diagram of multiple embodiments of the limited space operation robot provided by the present application;

[0032] Figure 2 is a framework schematic diagram of an embodiment of the safety risk assessment system of the limited space provided by the present application;

[0033] Figure 3 is a flowchart schematic diagram of an embodiment of the risk assessment model training method provided by the present application;

[0034] Figure 4 is a working flow schematic diagram of the monitoring robot in a manual mode provided by the present application;

[0035] Figure 5 is a working flow schematic diagram of the monitoring robot in an automatic mode provided by the present application;

[0036] Figure 6 is a flowchart schematic diagram of an embodiment of the safety risk assessment method of the limited space provided by the present application;

[0037] Figure 7 is a framework schematic diagram of the assembly process of the robot provided by the present application;

[0038] Figure 8is an example schematic diagram of a robot forward control program designed in a programmable logic controller provided in the present application;

[0039] Figure 9 is an example schematic diagram of a robot motion state interface framework controlled by configuration software provided in the present application;

[0040] Figure 10 is an example schematic diagram of a robot working mode and robot data acquisition interface framework controlled by configuration software provided in the present application;

[0041] Figure 11 is an example schematic diagram of a robot air quality monitoring program for a limited space provided in the present application;

[0042] Figure 12 is a framework schematic diagram of an embodiment of an electronic device provided in the present application;

[0043] Figure 13 is a framework schematic diagram of an embodiment of a computer readable storage medium provided in the present application. DETAILED DESCRIPTION

[0044] The scheme of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0045] In the following description, specific details are set forth in order to provide a thorough understanding of the present application. However, persons having ordinary skill in the art will appreciate that the present application can be practiced without many of the details as set forth herein.

[0046] The term "and / or" herein merely describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B can mean that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents that the front and rear associated objects are in an "or" relationship. In addition, "multiple" herein means two or more than two. In addition, the term "at least one" herein means any one of multiple or any combination of at least two of multiple, for example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0047] As described in the background, the traditional monitoring method relies on manual entry into a limited space for monitoring tasks, which is not only inefficient, but also has a great safety hazard.

[0048] To solve the above problems, the application develops an intelligent robot capable of replacing manual entry into a limited space to perform a monitoring task, and the robot is used to enter the limited space to perform the monitoring task, which can improve work efficiency, and the robot timely feeds back the safety risk assessment in the limited space to the worker and / or manager, thereby improving the safety guarantee of the worker when working in the limited space.

[0049] The application will be described in detail below in combination with the drawings and specific embodiments.

[0050] According to one embodiment of the application, the application provides a robot for limited space operation, as shown in the accompanying drawings, Figure 1 The robot of the application comprises: an intelligent monitoring device for acquiring environmental parameters in a target limited space; an intelligent early warning device for calculating a safety risk prediction value in the target limited space based on the environmental parameters by using a pre-trained risk assessment model, and sending an early warning signal to the worker and / or manager when the safety risk prediction value is greater than a preset first safety risk threshold.

[0051] The functions performed by the intelligent monitoring device and the intelligent early warning device will be described in detail below.

[0052] I. Intelligent monitoring device

[0053] According to one embodiment of the application, the environmental parameters include: visual information of a target scene in the limited space, air quality, temperature, humidity, spatial position, information of a target object, physiological parameters, and as shown in the accompanying drawings, Figure 2 The intelligent monitoring device comprises: a camera device for photographing a target scene in the target limited space to provide visual information of the target scene; an air quality sensor for monitoring air quality in the target limited space; a temperature sensor for monitoring temperature in the target limited space; a humidity sensor for monitoring humidity in the target limited space; an infrared sensor for spatial positioning of the target limited space to obtain the spatial position in the target limited space; an ultrasonic sensor for monitoring a target object in the target limited space to obtain information of the target object in the target limited space; and a radar sensor for monitoring physiological parameters of the worker in the limited space.

[0054] From the above description, the above-mentioned embodiments of the present application can monitor the environmental parameters in the limited space in real time by integrating various sensors and camera devices such as cameras, air quality sensors, temperature sensors, humidity sensors, etc. in the robot. The camera provides visual information, which, combined with on-site data information such as infrared sensors and ultrasonic sensors, helps the operator and the robot itself to identify obstacles and potential dangers in the environment. The air quality sensor monitors the concentration of harmful gases in real time to ensure the safety of the workers. The temperature and humidity sensors provide the temperature and humidity data of the environment, which provides a reference for the comfort level of the working environment and the running state of the equipment. The infrared sensor and the radar sensor can detect the presence information of the stationary workers (for example, detect the tiny parameter changes such as breathing and heartbeat of the stationary human body), which helps the rescuers to accurately and quickly find the wounded and the vital sign information of the wounded in the accident rescue (i.e. the radar sensor can emit an ultra-wideband pulse signal and receive the signal reflected by the human body. Even if the human body is in a stationary state, by analyzing the waveform and frequency of the radar reflected chest and abdominal micro fluctuations and vibration signals, the robot can also detect the presence of the stationary human body. This provides timely and accurate information support for limited space operation and rescue). The integration of various sensors and camera devices in the robot can monitor and transmit the visual information, air quality, temperature, humidity, spatial position, target object information, physiological parameters and specific location information of the workers in the limited space, which provides accurate environmental parameters for normal operation in the limited space and provides key information of the wounded for accident rescue.

[0055] According to an embodiment of the present application, still referring to FIG. 1, the camera device includes a sapphire cloud camera. Figure 2

[0056] From the above description, the robot of the above-mentioned embodiments of the present application is equipped with a sapphire cloud camera, which carries a CMOS sensor specially designed for sapphire to ensure the stability of the definition and quality of the visual information images collected in the limited space. It has a 125-degree ultra-wide field of view, which can clearly capture images even in an environment with insufficient light. The camera also has an automatic detection function, which can actively and intelligently detect human shapes in the limited space, thereby helping the rescuers to quickly locate and find the trapped personnel.

[0057] II. Intelligent early warning device

[0058] According to an embodiment of the present application, as shown in FIG. 2, the intelligent early warning device includes a sapphire cloud camera. Figure 3 ​As shown, the pre-trained risk assessment model is obtained in the following manner: S2, obtaining historical environmental parameters in the target limited space and constructing a data set based thereon; S2, constructing an initial risk assessment model, and taking the historical environmental parameters as input and the safety risk prediction value in the target limited space as output; S3, using the data set to perform multiple iterations of training on the initial risk assessment model until convergence to obtain the risk assessment model.

[0059] As can be known from the above description, the above embodiments of the present application obtain historical environmental parameters in the target limited space and construct a data set, use these data to perform multiple iterations of training on an initial risk assessment model until convergence, and finally obtain a high-efficiency and accurate risk assessment model. This method can make full use of historical data, improve the prediction accuracy of the model for safety risks in the limited space, thereby providing a basis for real-time risk monitoring and preventive measures, effectively reducing the probability of safety accidents, and ensuring the safety of personnel working in the limited space.

[0060] According to an embodiment of the present application, the intelligent early warning device is configured to send a warning signal to the worker and / or the manager through sound, and / or light, and / or short message when the safety risk prediction value is greater than the preset first safety risk threshold.

[0061] As can be known from the above description, the above embodiments of the present application can automatically determine whether there is a safety risk in the limited space according to the real-time environmental parameters in the limited space and the risk assessment model. Once an abnormal situation is detected, the robot will immediately start the early warning mechanism and send an alarm to the worker and the manager through various ways such as sound, light, and short message. In addition, the intelligent early warning device can send different levels of alarms to the worker according to different risk levels, ensuring that the worker can take appropriate measures in a timely manner.

[0062] According to an embodiment of the present application, the intelligent early warning device is further configured to automatically cut off the power supply, remotely automatically start the exhaust fan, water pump, and other equipment, and start the emergency evacuation program when the safety risk prediction value is greater than the preset first safety risk threshold.

[0063] According to an embodiment of the present application, the limited space is provided with a ventilation device, and the intelligent early warning device is further configured to start the ventilation device when the safety risk prediction value is greater than the preset second safety risk threshold.

[0064] From the above description, the robot of the above embodiments of the present application can automatically take corresponding emergency measures according to the safety risk level in the limited space, such as adjusting the robot's action route, starting the ventilation equipment, etc., to ensure that the robot can work normally and the safety of the workers in the limited space. The robot not only can provide real-time environmental parameters, but also can provide decision support for managers. By collecting and analyzing a large number of environmental parameters in the limited space, managers can understand the long-term trend of the working environment, assess the working risk, and develop corresponding safety measures. In addition, the data analysis results can also be used to optimize the working process and improve the working efficiency, so as to improve the overall working level while ensuring safety.

[0065] III. Power device

[0066] In order to ensure that the robot has enough power and flexibility in the limited space. According to an embodiment of the present application, still referring to Figure 1 as shown, the robot further comprises a power device for driving and controlling the robot.

[0067] Among them, the power device includes a motor and a driver, which work together to drive and control the robot.

[0068] From the above description, the robot of the above embodiments of the present application integrates the motor and the driver, which not only can provide powerful power output, but also can ensure the stability and precise control of the robot in complex terrain.

[0069] IV. Control device

[0070] According to an embodiment of the present application, still referring to Figure 1 as shown, the robot further comprises a control device for monitoring and controlling the motion state of the robot in the limited space, wherein the control device comprises a programmable logic controller (PLC) for adjusting the walking route of the robot in the limited space according to the safety risk prediction value.

[0071] From the above description, the robot of the above embodiments of the present application is configured to have the ability of automatic obstacle avoidance and autonomous navigation to the specified area, which significantly enhances the flexibility and safety of the robot's work in the limited space.

[0072] Among them, according to an embodiment of the present application, the programmable logic controller is configured to monitor and control the motion state of the robot in the limited space by using the control method.

[0073] From the above description, the above embodiments of the present application use domestic PLC as the core control unit, combined with advanced sensors and actuators, to realize real-time monitoring and precise control of the robot's motion state, and improve the response speed and working efficiency of the robot.

[0074] According to one embodiment of the present application, the programmable logic controller is configured to be invoked by the administrator to remotely control the robot to perform corresponding operations. According to one embodiment of the present application, the programmable logic controller is also configured to remotely control the robot using Internet of Things technology to perform corresponding operations.

[0075] As can be seen from the above description, the above-mentioned embodiments of the present application enable the administrator to monitor the work situation in the limited space in real time through the control terminal by remote monitoring and emergency response functions. Through the Internet of Things technology, the administrator can remotely operate the robot, adjust the monitoring task, and even remotely intervene and command the robot to perform emergency measures in an emergency. This function greatly improves the flexibility and safety of work in the limited space and ensures that the emergency can be responded quickly and effectively handled.

[0076] According to one embodiment of the present application, the robot is configured to replace the integrated sensor according to the characteristics of the monitoring task.

[0077] As can be seen from the above description, the above-mentioned embodiments of the present application modularize the robot, which can be quickly adjusted and upgraded according to different work requirements. For example, different sensors can be replaced for more accurate data collection and analysis for specific monitoring tasks. Meanwhile, a dedicated software platform is developed to facilitate the user to remotely control and manage the data of the robot, thereby improving the flexibility and scalability of the robot.

[0078] The core components of the robot are composed of national brand PLC, including AH16SOP card type PLC, A08DOT digital quantity output module, A8-G Internet of Things cloud box module, and other components. The robot also includes a PLC output module, a direct current motor driving module, an air quality sensor, an ultrasonic sensor, an infrared sensor, and a video camera. Among them, AH16SOP is the main PLC of the robot control, responsible for providing high-speed pulse signals required for direct current motor operation and speed regulation. The A08DOT module is responsible for sending forward and reverse control signals to the direct current motor. The A8-G module gives the robot Internet of Things functions to realize remote transmission and monitoring of data. The direct current motor driving module is responsible for driving the four direct current motors of the robot and controlling its forward and reverse rotation and steering actions. The motion control instruction signal sent by the PLC is protected and amplified by the PLC output module, and then drives the direct current motor driving module. The optical isolation function of this module ensures that the safety of the main PLC is maximally guaranteed.

[0079] Five, voice interaction device

[0080] According to one embodiment of the present application, still referring to Figure 1As shown, the robot further comprises a voice interaction device, which is provided with full-duplex voice real-time talkback function, so as to realize human-machine interaction between the robot and the worker in the limited space.

[0081] As described above, the robot of the above embodiment of the present application is provided with full-duplex voice real-time talkback function, so that the communication with the worker in the limited space becomes easy, convenient and smooth, and in an emergency, it can effectively assist in command and rescue work.

[0082] Six, power supply device

[0083] According to one embodiment of the present application, still referring to Figure 1 As shown, the robot further comprises a power supply device for providing working power for the robot to work normally in the limited space. According to one embodiment of the present application, the robot further comprises a DC-DC conversion device for providing stable 5V power supply for the sapphire cloud camera and the air quality sensor. According to one embodiment of the present application, the power supply device is a 24V / 11200mAh lithium battery.

[0084] As described above, the robot of the above embodiment of the present application

[0085] According to one embodiment of the present application, the robot is configured to adjust its movement speed in the limited space according to the instructions of the worker and / or the manager, or automatically adjust its own movement speed according to the distance of the road condition and the target object in front.

[0086] As described above, the robot of the above embodiment of the present application can adjust its movement speed according to the instructions of the manager, and can accurately perform various complex actions and tasks.

[0087] According to one embodiment of the present application, the robot is configured to rotate in place in all directions according to the instructions of the manager, or to perform linear motion along the Y axis, and to perform translational motion along the X axis without changing direction, turning or U-turn.

[0088] As described above, the robot of the above embodiment of the present application can rotate in place by 360 degrees according to the actual needs of the manager, and can turn at any angle at any time, to facilitate the needs of omnidirectional video shooting.

[0089] According to one embodiment of the present application, the robot is connected to the wireless WiFi in the environment through the Internet of Things cloud box to realize cloud interconnection, or is connected to the network through the Internet of Things card to meet the needs of network connection in various complex environments. At the same time, the networking mode of the robot also has high flexibility and scalability, and can be personalized configured and optimized according to different application scenarios and business needs.

[0090] According to one embodiment of the present application, the robot is configured to utilize advanced encryption technology and security protocols for data transmission in the Internet of Things environment, ensuring the integrity and confidentiality of data during transmission, and providing reliable security protection for transmitted data.

[0091] According to one embodiment of the present application, the robot is configured to perform data mining on the data collected by itself to obtain key data. This powerful data mining function can extract valuable information from massive monitoring data, providing scientific decision-making basis for the operating unit.

[0092] In addition, according to one embodiment of the present application, still referring to Figure 2 The present application provides a safety risk assessment system for limited space, which comprises a cloud server for storing control quality of the robot and data collected by various sensors in the robot, a mobile terminal APP and a management terminal for controlling the robot by utilizing the Internet of Things technology, and the robot for working with the cloud server, the mobile terminal APP and the management terminal to complete the safety risk assessment for the limited space.

[0093] According to one embodiment of the present application, the robot is further configured to work in the limited space in a manual mode or work in the limited space in an automatic mode.

[0094] In the manual mode, the robot follows the movement instructions of the manager, accurately moves to the designated area, and performs tasks such as air quality detection and on-site video collection. Under the guidance of the manual instructions, the robot can realize autonomous obstacle avoidance by using the data detected by the obstacle avoidance sensor. As shown in Figure 4 The manager sends a manual action instruction to the robot through the manual terminal APP, and the robot collects data in the limited space through the working sensor grid (i.e. various sensor combinations) after receiving the instruction, and feeds back the collected data to the manual terminal APP in real time. Or the robot monitors obstacles through the obstacle avoidance sensor grid (i.e. ultrasonic sensor) after receiving the instruction, and if an obstacle is encountered, the robot refuses to perform a dangerous action and feeds back the situation to the manual terminal APP. Otherwise, the manual action instruction is executed, and the situation is fed back to the manual terminal APP.

[0095] In the automatic mode, the robot can autonomously avoid obstacles according to the detected data, and follow the macro instructions of the manager to independently plan the details of its movement path. The key sensors such as air quality sensors and video cameras transmit the data collected on site to the management terminal in real time, ensuring that the manager can timely grasp the real situation on site. As shown in Figure 5As shown, the manager sends a manager instruction to the robot through the management terminal, the robot performs automatic inspection in the limited space according to the default path (for example, starting from different areas such as east, south, west, north, and center for automatic inspection), collects data in the limited space through the working sensor grid (that is, various sensor combinations), and feeds back the collected data to the management terminal in real time; or the robot monitors obstacles through the obstacle avoidance sensor grid (that is, ultrasonic sensors) after receiving the instruction, and if there is an obstacle in the moving direction, the robot automatically avoids the obstacle, replans the path, and returns to the initial position after the inspection introduction and uploads the data to the management terminal in real time; otherwise, it returns to the initial position after the inspection introduction and uploads the data to the management terminal in real time.

[0096] In addition, according to one embodiment of the present application, as shown in Figure 6 The present application provides a safety risk assessment method for a limited space, which comprises: T1, using the robot for limited space operation according to any one of the above embodiments to assess the safety risk in the limited space; T2, based on the assessment result, remotely controlling the robot to adjust the monitoring task of the robot in the limited space, including adjusting the walking route of the robot in the limited space and / or controlling the robot to perform a corresponding emergency task.

[0097] In order to improve the operation efficiency and safety, the manual intervention link is reduced, and the possibility of human error is reduced. The present application establishes a standardized operation process for the robot, ensures that each inspection can be carried out according to the established steps, thereby improving the consistency and reliability of the operation.

[0098] Among them, according to one embodiment of the present application, before assessing the safety risk in the limited space, the robot automatically completes the equipment inspection and environment detection to ensure the safety of the operation conditions; when assessing the safety risk in the limited space, the robot monitors the changes of the operation environment in real time and adjusts the operation strategy in time through PLC; after assessing the safety risk in the limited space, the robot automatically organizes the environmental parameters to provide support for subsequent decision-making.

[0099] In order to verify the effectiveness of the scheme proposed in the above embodiments, the inventors carried out the following experiments:

[0100] I. Hardware manufacturing

[0101] As shown in Figure 7 , it is the assembly process of the robot of the present application, and a large-capacity lithium battery is used in the assembly process. In the assembly process of the robot, the distribution of materials and the spatial layout are considered to minimize the overall volume of the robot.

[0102] II. Test of programmable logic controller

[0103] By designing corresponding control algorithms in the programmable logic controller (PLC), the robot is ensured to immediately stop its movement once obstacle avoidance sensors such as ultrasonic or infrared sensors detect an obstacle ahead. All control variables and parameters in the program have been finely adjusted to achieve precise control of the robot's trajectory. During robot movement, if any abnormal situation occurs, the program will quickly activate an emergency response mechanism to ensure the robot can safely and stably stop, thereby avoiding potential safety risks. Figure 8 As shown, it illustrates a schematic diagram of a robot forward control program designed in a programmable logic controller.

[0104] After the PLC and PC were successfully connected via TCP / IP protocol, the robot's forward and backward movement, left and right translation, turning in place, and acceleration and deceleration control were successfully debugged through the program's online monitoring function, and these debugging results met the expected control requirements.

[0105] By connecting a PLC to an IoT cloud and remotely configuring robot movements and monitoring data using configuration software, efficient robot management can be achieved. The configuration software interface is as follows: Figure 9 and Figure 10 As shown, where, Figure 9 This demonstrates how to control the robot's direction of movement, speed, etc. Figure 10 The demonstration showed the selection of manual and automatic modes for the robot's operation, as well as the display of environmental parameters collected by the robot within a confined space. The configuration software was configured as a mobile app and / or management terminal, allowing managers to control the robot's operation within the confined space.

[0106] III. Early Warning Test

[0107] like Figure 11 As shown, this demonstrates an ambient air quality monitoring process designed to monitor multiple indicators in a confined space in real time, including carbon dioxide (CO2), formaldehyde (CH2O), total volatile organic compounds (TVOC), fine particulate matter (PM2.5), coarse particulate matter (PM10), ambient temperature, ambient humidity, and ambient smog. Furthermore, the program can intelligently analyze the collected data, providing in-depth analysis and timely warnings to identify potential air quality problems within the work area. This provides solid data support and a sound decision-making basis for ensuring the safety of personnel during work.

[0108] In summary, compared with the traditional monitoring method relying on manual entry into the limited space for monitoring tasks, the above-mentioned embodiments of the present application use robots to enter the limited space to perform monitoring tasks, which can improve work efficiency, and at the same time, the robots timely feedback the safety risk assessment in the limited space to the workers and / or managers, thereby improving the safety guarantee of the workers when working in the limited space.

[0109] Based on the inventive concept of the above-mentioned embodiments, the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the method described in the above-mentioned embodiments. The following will be described in detail in combination with Figure 12

[0110] As Figure 12 shown, it shows the electronic device 100 of the present application, which can specifically include a processor 110 and a memory 120. The memory 120 is coupled to the processor 110.

[0111] The processor 110 is used to control the operation of the electronic device, and the processor 110 can also be called a CPU (Central Processing Unit, central processing unit). The processor 110 can be an integrated circuit chip with signal processing capability. The processor 110 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor can be a microprocessor or the processor 110 can also be any conventional processor or the like.

[0112] The memory 120 is used to store computer programs and can be RAM, ROM or other types of storage terminals. Specifically, the memory 120 can include one or more computer readable storage media, which can be non-transitory or transitory. The memory 120 can also include a high-speed random access memory and a non-volatile memory such as one or more disk storage terminals, flash memory storage terminals. In some embodiments, the non-transitory computer readable storage medium in the memory 120 is used to store at least one program code.

[0113] The processor 110 is used to execute the computer program stored in the memory 120 to implement the method described in the method embodiments of the present application.

[0114] ​In some embodiments, the electronic device can further include a peripheral terminal interface 130 and at least one peripheral terminal. The processor 110, the memory 120 and the peripheral terminal interface 130 can be connected through a bus or a signal line. Each peripheral terminal can be connected to the peripheral terminal interface 130 through a bus, a signal line or a circuit board. Specifically, the peripheral terminal includes at least one of a radio frequency circuit 140, a display screen 150, an audio circuit 160 and a power supply 170.

[0115] The peripheral terminal interface 130 can be used to connect at least one peripheral terminal related to I / O (Input / output) to the processor 110 and the memory 120. In some embodiments, the processor 110, the memory 120 and the peripheral terminal interface 130 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 110, the memory 120 and the peripheral terminal interface 130 can be implemented on a separate chip or circuit board, and the present embodiment does not limit this.

[0116] The radio frequency circuit 140 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 140 communicates with a communication network and other Internet of Things devices through electromagnetic signals, and the radio frequency circuit 140 is the communication circuit of the electronic device. The radio frequency circuit 140 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 140 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chip set, a subscriber identity module, and the like. The radio frequency circuit 140 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 140 can also include NFC (Near Field Communication) related circuit, and the present application does not limit this.

[0117] The display screen 150 is configured to display a UI (User Interface). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 150 is a touch display screen, the display screen 150 is further configured to capture touch signals on or above the surface of the display screen 150. The touch signals can be input to the processor 110 as control signals for processing. In this case, the display screen 150 can also be configured to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 150 can be one, disposed on the front panel of the electronic device; in other embodiments, the display screen 150 can be at least two, respectively disposed on different surfaces of the electronic device or in a folding design; in yet other embodiments, the display screen 150 can be a flexible display screen, disposed on a curved surface or a folding surface of the electronic device. Even, the display screen 150 can also be disposed in an irregular shape other than a rectangle, i.e., a notched screen. The display screen 150 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc.

[0118] The audio circuit 160 can include a microphone and a speaker. The microphone is configured to capture sound waves of the operator and the environment, and convert the sound waves into electrical signals input to the processor 110 for processing, or input to the radio frequency circuit 140 to realize voice communication. For the purpose of stereo sound collection or noise reduction, the microphone can be multiple, respectively disposed on different parts of the electronic device. The microphone can also be an array microphone or an omnidirectional collection microphone. The speaker is configured to convert electrical signals from the processor 110 or the radio frequency circuit 140 into sound waves. The speaker can be a conventional thin-film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert electrical signals into sound waves audible to humans, but also convert electrical signals into sound waves inaudible to humans for ranging purposes. In some embodiments, the audio circuit 160 can further include a headphone jack.

[0119] The power supply 170 is configured to supply power to each component in the electronic device. The power supply 170 can be alternating current, direct current, disposable batteries, or rechargeable batteries. When the power supply 170 includes rechargeable batteries, the rechargeable batteries can be wired rechargeable batteries or wireless rechargeable batteries. The wired rechargeable batteries are batteries that are charged through wired lines, and the wireless rechargeable batteries are batteries that are charged through wireless coils. The rechargeable batteries can also be used to support fast charging technology.

[0120] For detailed descriptions of the functions and execution processes of the functional modules or components in the embodiments of the electronic device of the present application, reference can be made to the descriptions of the embodiments of the methods of the present application described above, which will not be repeated here.

[0121] In several embodiments provided in the present application, it should be understood that the disclosed electronic device and method can be implemented in other manners. For example, the embodiments of the electronic device described above are merely schematic, and the division of the modules or units can be different, for example, a plurality of units or components can be combined or integrated into another system, or some data can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between the units can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0122] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0123] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can be physically present separately, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0124] Based on the inventive concept of the above embodiments, the present application further provides a computer readable storage medium storing a computer program, and the computer program is executed by a processor to perform the steps of the method described in any of the above embodiments. The following will be described in combination with Figure 13 The execution process of the above embodiments in the computer readable storage medium is described.

[0125] As Figure 13As shown, it shows the computer readable storage medium of the present application, the integrated unit can be stored in the computer readable storage medium 200 if it is realized in the form of software function unit and sold or used as an independent product. Based on such understanding, the technical solutions of the present application or the whole or part of the technical solutions which make essential contributions to the prior art can be embodied in the form of software product, which is stored in a storage medium and includes a plurality of instructions / computer programs for making an Internet of Things device (which can be a personal computer, a server, or a network terminal, etc.) or a processor execute all or part of the steps of the methods of various embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and various media with the above storage medium, computer, mobile phone, notebook computer, tablet computer, camera, etc. Electronic terminal.

[0126] The description of the execution process of the program data in the computer readable storage medium can refer to the description of the above-mentioned method embodiments of the present application, and will not be repeated here.

[0127] The above is only an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

[0128] Those skilled in the art can understand that in the above-mentioned method of the specific embodiment, the writing order of each step does not mean strict execution order and does not constitute any limitation on the implementation process, and the specific execution order of each step should be determined by its function and possible internal logic.

Claims

1. A robot for working in a confined space, characterized in that The robot comprises: an intelligent monitoring device configured to acquire environmental parameters in a target limited space; an intelligent early warning device configured to calculate a safety risk prediction value in the target limited space based on the environmental parameters by using a pre-trained risk assessment model, and send an early warning signal to the worker and / or manager when the safety risk prediction value is greater than a preset first safety risk threshold.

2. The robot for operating in a confined space according to claim 1, wherein, The environmental parameters include visual information of a target scene in the limited space, air quality, temperature, humidity, spatial position, information of a target object, and physiological parameters, and the intelligent monitoring device comprises: a camera configured to take a photo of the target scene in the target limited space to provide visual information of the target scene; an air quality sensor configured to monitor air quality in the target limited space; a temperature sensor configured to monitor temperature in the target limited space; a humidity sensor configured to monitor humidity in the target limited space; an infrared sensor configured to position the target limited space to obtain a spatial position in the target limited space; an ultrasonic sensor configured to monitor a target object in the target limited space to obtain information of the target object in the target limited space; a radar sensor configured to monitor physiological parameters of a worker in the limited space.

3. The robot for operating in a confined space according to claim 1, wherein, The pre-trained risk assessment model is obtained in the following manner: acquiring historical environmental parameters in a target limited space and constructing a data set based thereon; constructing an initial risk assessment model, taking the historical environmental parameters as input and the safety risk prediction value in the target limited space as output; iteratively training the initial risk assessment model with the data set until convergence to obtain the risk assessment model.

4. The robot for operating in a confined space according to claim 1, wherein, The intelligent early warning device is configured to send an early warning signal to the worker and / or manager in the form of sound, light, and / or short message when the safety risk prediction value is greater than a preset first safety risk threshold.

5. The robot for operating in a confined space according to claim 1, wherein, The robot further comprises a programmable logic controller configured to adjust a walking route of the robot in the limited space according to the safety risk prediction value.

6. The robot for operating in a confined space according to claim 5, wherein, The programmable logic controller is configured to be invoked by the manager to remotely control the robot.

7. The robot for operating in a confined space according to claim 1, wherein, A ventilation device is deployed inside the limited space, and the intelligent early warning device is further configured to start the ventilation device when the safety risk prediction value is greater than a preset second safety risk threshold.

8. A method of safety risk assessment of a confined space, characterized by, The method comprises: evaluating a safety risk in a limited space by using the robot for limited space operation according to claim 1; remotely controlling the robot based on the evaluation result to adjust a monitoring task of the robot in the limited space, including adjusting a walking route of the robot in the limited space and / or controlling the robot to perform a corresponding emergency task.

9. An electronic device, comprising: A computer program product comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to claim 8 when executing the computer program.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program, which is executed by a processor, implements the steps of the method as claimed in claim 8.

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